/* 
 * File:   Evaluation.h
 * Author: hadrien
 *
 * Created on 9 mars 2012, 15:06
 */

#ifndef EVALUATION_H
#define	EVALUATION_H

#include "Robot.h"
#include "CRangeBearingKFSLAM2DWithCopy.h"
#include "mrpt/slam.h"
#include "mrpt/utils.h"
#include "mrpt/base.h"

class Evaluation {
public:
    Evaluation();
    virtual ~Evaluation();
    static double evaluate(Robot &robot, CRangeBearingKFSLAM2DWithCopy &mapping, const mrpt::slam::CLandmarksMap &landmarkMap, const RangeSensorModel &sensor);
private:

};

class EvaluationTraceCov {
public:
    EvaluationTraceCov();
    virtual ~EvaluationTraceCov();
    static double evaluate(Robot &robot, CRangeBearingKFSLAM2DWithCopy &mapping, const mrpt::slam::CLandmarksMap &landmarkMap, const RangeSensorModel &sensor);
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
private:

};

#endif	/* EVALUATION_H */

